EP2362752A1 - Générateur ultrasonore à mode torsionnel - Google Patents

Générateur ultrasonore à mode torsionnel

Info

Publication number
EP2362752A1
EP2362752A1 EP09799125A EP09799125A EP2362752A1 EP 2362752 A1 EP2362752 A1 EP 2362752A1 EP 09799125 A EP09799125 A EP 09799125A EP 09799125 A EP09799125 A EP 09799125A EP 2362752 A1 EP2362752 A1 EP 2362752A1
Authority
EP
European Patent Office
Prior art keywords
conversion element
torsional
cross
mode
ultrasonic vibrations
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP09799125A
Other languages
German (de)
English (en)
Other versions
EP2362752B1 (fr
Inventor
Michael John Radley Young
Stephen Michael Radley Young
James Anton Slipszenko
Michael James Ede
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SRA Developments Ltd
Original Assignee
SRA Developments Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SRA Developments Ltd filed Critical SRA Developments Ltd
Publication of EP2362752A1 publication Critical patent/EP2362752A1/fr
Application granted granted Critical
Publication of EP2362752B1 publication Critical patent/EP2362752B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B3/00—Methods or apparatus specially adapted for transmitting mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • A61B2017/320089—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic node location
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • A61B2017/320098—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with transverse or torsional motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
    • B06B1/06—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction
    • B06B1/0607—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction using multiple elements
    • B06B1/0611—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction using multiple elements in a pile

Definitions

  • the present invention relates to apparatus for generating torsional-mode ultrasonic vibrations to activate an ultrasonically-vibratable tool, such as a surgical tool. More particularly but not exclusively, it relates to apparatus for generating torsional-mode ultrasonic vibrations, adapted to be incorporated into a handpiece of a surgical tool. The present invention further relates to apparatus for selectively converting torsional-mode ultrasonic vibrations to longitudinal-mode vibrations at an operative end of a tool, particularly a surgical tool.
  • - 2 - may not be convenient, for example when incorporated into a handpiece of a surgical tool.
  • ultrasonically-vibratable tools are widely used in laparoscopic surgery. In such situations, it is necessary to shroud or isolate the waveguide to prevent energy being transferred to body tissues anywhere except at the operative tip of the tool. This is both for reasons of patient safety and to ensure that as much of the energy as possible reaches the T/GB2009/002562
  • the shroud is optimally mounted to the waveguide at nodal planes of the vibrations therein, to minimise the vibrational energy transmitted into the shroud.
  • each component will have a different wavelength, so there are likely to be very few or no true nodes. Only a pure torsional-mode vibration or a pure longitudinal-mode vibration is likely to provide a series of suitable nodal mounting points along a waveguide. Similar considerations apply when mounting the generator within a hand-held portion of the tool (handpiece), for which it is important that no vibrations are transferred to the hand of the user.
  • apparatus adapted to generate torsional-mode ultrasonic vibrations, comprising a co-axially-aligned array of piezoelectric elements having a substantially co-axially extending first conversion element directly mounted thereto, wherein said first conversion element comprises a cross-sectional mhomogeneity of generally helical symmetry extending from adjacent its proximal end to adjacent its distal end.
  • Elongate waveguide means may be mounted or mountable to said first conversion element.
  • Said waveguide means may extend substantially coaxially from the first conversion element.
  • said cross-sectional mhomogeneity has an axial length of at least ⁇ /2, where ⁇ x is the wavelength of ultrasonic vibrations within the conversion element.
  • said cross-sectional inhomogeneity has an axial length corresponding substantially to ⁇ /2.
  • the cross-sectional inhomogeneity extends along at least three-quarters of the length of the first conversion element, optionally along at least nine-tenths of the length thereof.
  • the first conversion element may comprise a proximal homogeneous portion extending between the cross-sectional inhomogeneity and the proximal end of the conversion element, said homogeneous portion having an axial length of ⁇ /10 or less, optionally of ⁇ /20 or less.
  • the first conversion element may comprise a distal homogeneous portion extending between the cross-sectional inhomogeneity and the distal end of the conversion element, said homogeneous portion having an axial length of ⁇ /10 or less, optionally of ⁇ /20 or less.
  • Said cross-sectional inhomogeneity preferably comprises a plurality of helically-extending groove means, extending substantially parallelly each to the others from adjacent the proximal end of the first conversion element to adjacent its distal end.
  • groove means there may be an even number of said groove means, optionally two or four.
  • Each groove means may have a depth of between 10% and 40% of an overall diameter of the conversion element, optionally between 20% and 40% thereof, or between 20% and 30% thereof.
  • Each groove means may have a width of between 2% and 20% of an overall diameter of the conversion element, optionally between 3% and 14% thereof, or between 10% and 14% thereof.
  • Each groove means may extend helically between its respective proximal and distal ends for substantially a complete rotation around a circumference of the conversion element.
  • the apparatus comprises a second conversion element extending substantially coaxially from the array of piezo-electric elements, remotely from the first conversion element.
  • Said second conversion element may be substantially similar to the first.
  • the second conversion element may be mounted directly to the first, optionally by mounting means extending through or around the array of piezo-electric elements.
  • apparatus adapted to generate torsional-mode ultrasonic vibrations, comprising a co-axially-aligned array of piezoelectric elements having a substantially co-axially extending first conversion element mounted thereto, wherein said first conversion element comprises a cross-sectional inhomogeneity of generally helical symmetry having an axial length corresponding substantially to ⁇ ⁇ /2, where ⁇ ⁇ is the wavelength of ultrasonic vibrations within the conversion element.
  • said cross-sectional inhomogeneity extends from adjacent a proximal end of the first conversion element to adjacent its distal end.
  • the apparatus comprises a second conversion element extending substantially coaxially from the array of piezo-electric elements, remotely from the first conversion element.
  • Said second conversion element may be substantially similar to the first.
  • the second conversion element may be mounted directly to the first, optionally by mounting means extending through or around the array of piezo-electric elements.
  • apparatus adapted to generate torsional mode ultrasonic vibrations, comprising a co-axially aligned array of axially-polarised piezo-electric elements having a substantially co-axially extending first conversion element mounted thereto, wherein said first conversion element comprises a cross-sectional inhomogeneity of generally helical symmetry, and wherein energising of the array of piezo-electric elements induces a torsional-mode ultrasonic vibration in both the first conversion element and the array of axially-polarised piezo-electric elements.
  • the apparatus further comprises a second conversion element substantially identical to the first conversion element and extending substantially coaxially from a face of the array opposite the first conversion element.
  • the apparatus may be provided with isolating mounting means adapted to receive casing means therefor, said isolating mounting means being mounted to the apparatus at a nodal plane located within the array of piezo-electric elements. Said isolating mounting means may be mounted adjacent a midpoint of said array.
  • ultrasonically vibratable tool means comprising means to generate ultrasonic vibrations operatively connected to elongate waveguide means extending to an operative distal tip of the tool means, wherein the waveguide means comprises a cross-sectional inhomogeneity having a generally helical symmetry located adjacent said distal tip.
  • Said cross-sectional inhomogeneity may be adapted to convert torsional-mode ultrasonic vibrations in the waveguide means at least partially into longitudinal-mode ultrasonic vibrations in the operative distal tip.
  • Said cross-sectional inhomogeneity may be adapted to convert longitudinal-mode ultrasonic vibrations in the waveguide means at least partially into torsional-mode ultrasonic vibrations in the operative distal tip.
  • Said cross-sectional inhomogeneity may comprise a plurality of helically-extending groove means, each extending parallelly to the others between a proximal end of the cross-sectional inhomogeneity and a distal end thereof.
  • the means to generate ultrasonic vibrations may comprise apparatus for generating torsional- mode ultrasonic vibrations as described in any one of the first to third aspects above.
  • Figure IA is a side elevation of a first transducer unit embodying the present invention.
  • Figure IB is a schematic representation of a displacement amplitude of ultrasonic vibrations along the first transducer unit of Figure IA, in operation;
  • Figure 2 is a side elevation of a second transducer unit embodying the present invention
  • Figure 3A is a side elevation of an operative portion of a surgical tool embodying the present invention.
  • Figure 3B is a schematic representation of a displacement amplitude of ultrasonic vibrations along a waveguide of the surgical tool shown in Figure 3 A, in operation;
  • Figure 3C is a distal end elevation of the surgical tool shown in Figure 3 A;
  • Figure 4A is a side elevation of a third transducer unit embodying the present invention.
  • Figure 4B is a cross-sectional elevation of the third transducer unit shown in Figure
  • Figure 4C is a schematic representation of a displacement amplitude of ultrasonic vibrations along the third transducer unit shown in Figures 4 A and 4B, in operation;
  • Figure 4D is an isometric view of the third transducer unit shown in Figures 4A and
  • Figure 5 is a radial cross-sectional view through an output section of the third transducer unit shown in Figures 4 A, 4B and 4D. 2009/002562
  • a first transducer unit 5 comprises a substantially conventional piezo-electric ceramic stack 8 and an output section 1 comprising a cross-sectional inhomogeneity (CSI), mounted to a distal face of the stack 8.
  • CSI cross-sectional inhomogeneity
  • the stack 8 comprises four axially-polarised/thickness-polarised piezo-electric transducer (PZT) rings 10, separated by five conductive electrodes 6, which may be brass rings or beryllium-copper shims.
  • the PZT rings 10 and the electrodes 6 are held in compression between the output section 1 and a washer 12, secured by a nut 14 threaded on to a proximal end of a spigot 15, which extends coaxially through the stack 8 from a proximal end of the output section 1.
  • the PZT rings 10 are electrically connected as two parallel pairs, with end and central electrodes 6 at a low potential and alternating connections to a high tension (HT) drive voltage, which is typically of sinusoidal form.
  • HT high tension
  • the stack 8 thus has a substantially cylindrical symmetry.
  • the output section 1 is also substantially cylindrical, extends coaxially from the distal face of the stack 8, and has substantially the same diameter as the stack 8.
  • the CSI comprises four helical grooves 2, extending from adjacent a proximal end of the output section 1 substantially to its distal end.
  • the grooves 2 are equally spaced around the circumference of the output section 1, and each helical groove 2 extends through 360° around the output section 1 from end to end.
  • the grooves 2 extend along about 90% of the overall length of the output section 1 , measured axially .
  • the ungrooved proximal portion 17 and distal portion 18 of the output section 1 are as short as possible, consistent with providing adequate strength and a secure fiat contact surface for marrying adjacent elements thereto.
  • the spiral grooves 2 should be from two to five millimetres deep; ideally, the groove 2 depth should be between 20% and 40% of the diameter of the output section 1.
  • the groove 2 width should be between 0.45mm and 3 mm, ideally between 3% and 14% of the diameter of the output section 1. Groove 2 widths, of 1.5-2mm are most straightforward to manufacture and are highly effective.
  • the grooves 2 each extend a distance ⁇ /2 measured axially along the output section I 5 where ⁇ r is the wavelength of the torsional vibrations set up in the output section 1.
  • FEA finite element analysis
  • proximal 17 and distal 18 ungrooved portions are also best governed by the wavelength ⁇ j of the vibrations therein.
  • Each ungrooved portion should be less than ⁇ /10 long, and ideally less than ⁇ /20 long, measured axially. Not only would longer ungrooved portions 17, 18 represent wasted material, but they would also tend to weaken the vibrational coupling between the stack 8 and the grooved portion of the output section 1, probably leading to only partial conversion of longitudinal to torsional-mode vibrations.
  • the transducer unit 5 as a whole is compact and axisymmetric. It is easy to incorporate into a tool handpiece of convenient size and shape, particularly since there are two nodal planes at which a casing may conveniently be mounted to the unit 5 in vibrational isolation.
  • FIG 2 shows a second transducer unit 20, which comprises a transducer unit 5 very similar to the first transducer unit 5 shown in Figure IA, with the addition of a half- wave focussing horn 2, comprising a tapering input portion 16 mounted directly to the distal face of the output section 1 and a parallel/cylindrical output portion 17 extending coaxially distally from the input portion 16.
  • a half- wave focussing horn 2 comprising a tapering input portion 16 mounted directly to the distal face of the output section 1 and a parallel/cylindrical output portion 17 extending coaxially distally from the input portion 16.
  • Focussing horns 3 of this type are useful for amplifying torsional-mode vibrations as they are transmitted into an elongate narrow cylindrical coaxial waveguide, of the form typically used in a surgical tool, such as a laparoscopic tool for cutting and/or coagulating body tissues, blood vessels and the like.
  • FIG. 3 An example of such a tool is shown in Figure 3.
  • a hom 31 is mounted coaxially to a distal face of a first transducer unit 5, which is substantially the same as that shown in Figure IA.
  • a thin, elongate, cylindrical waveguide 34 extends from the horn 31 to an end effector at a distal tip 35 of the tool.
  • the waveguide 34 and horn 31 between them extend either ri ⁇ or (2n + 1) ⁇ /2, where ⁇ j is the wavelength of the torsional ultrasonic vibrations therein.
  • the displacement amplitude is at a maximum at the distal tip 35 (see Figure 3B).
  • the end effector itself may be of any desired form that is operable by torsional-mode ultrasonic vibrations (see for example UK Patent No. GB2333709 and many others having B2009/002562
  • a short CSI portion 32 is disposed at a distal end of the waveguide 34, adjacent the distal tip 35.
  • a series of helical grooves 37 extend around the CSI portion 32, each having a depth 36 (see Figure 3C).
  • the distal CSI portion 32 converts a portion of the torsional-mode displacement wave to a longitudinal- mode compression wave at the distal tip 35 (see the torsional wave 39 and the dashed longitudinal wave 40 in Figure 3B).
  • a remainder of the waveguide 34 remains resonant in a pure torsional mode, avoiding problems with isolation along its length.
  • the proportion of the torsional-mode energy transformed to longitudinal-mode depends on the depth 36 of the grooves 37 and the pitch of the helical profile of the grooves 37. Shallower grooves 37 favour the torsional-mode component, while deeper grooves 37 increase the transformation to longitudinal-mode.
  • a third transducer unit 50 embodying the present invention is shown in Figures 4 A to 4D and 5.
  • a conventional axial-mode PZT stack is provided comprising four thickness- polarised PZT rings 10, with five interleaved electrodes 52, all but one 56 of conventional form.
  • this third transducer unit 50 is provided with two CSIs, in the form of two spring torsional converters 51, 53 (the output section 1 of the first transducer unit 5 may also be considered as a spring torsional converter).
  • a distal spring torsional converter 53 is mounted to a distal face of the PZT stack, and drives a conventional torsional horn 54 extending coaxially from its distal end.
  • the distal spring torsional converter 53 is provided with four equally-spaced helical grooves 53 extending for a distance ⁇ /2 along its length and having a pitch of 360° from end to end, as for the output section 1 of the first transducer unit 5.
  • the third transducer unit 50 also comprises a proximal spring torsional converter 51, which is mounted to extend coaxially from a proximal face of the PZT stack.
  • a spigot 59 extends from the proximal converter 51, coaxially through the PZT rings 10 of the stack and into a cooperatively threaded socket in the distal converter 53.
  • the two converters 51, 53 thus also act as front and back plates to compress the PZT stack between them.
  • the transducer comprising the stack of PZT rings 10 and the two converters 51, 53 is wholly symmetrical, and there is a fixed nodal plane at the midpoint of the stack.
  • a central one of the electrodes 56 may thus be extended radially outwardly to double as a nodal mounting element. This provides substantially complete acoustic isolation.
  • An isolating sleeve 57 is formed as part of the nodal mounting element/ electrode 56, to which a handpiece casing may safely and conveniently be mounted in turn.
  • the mounting of the proximal converter 51 to the distal converter 53 adds further torsional gain to the distal converter 53, compared with the arrangement of the first transducer unit 5.
  • the output of the third transducer unit 50 is (as for the first unit 5) a pure torsional-mode ultrasonic vibration, and the entire third transducer unit 50 again undergoes a single torsional- mode vibration, including the stack of axially-driven, thickness-polarised PZT rings 10.
  • the efficiency of energy transfer to a waveguide, in the form of torsional-mode vibrations is even greater than for the first unit 5.
  • FIG. 4C a trace 60 of the displacement amplitude along the third transducer unit 50 is shown.
  • the proximal 51 and distal 53 converters each have a length substantially corresponding to half the wavelength of the torsional mode vibrations therein (as in the case of the output section 1 of the first transducer unit 5, the lengths of the respective ungrooved portions of the converters 51, 53 are kept to a minimum, ideally less than one tenth or even one twentieth of a wavelength).
  • the stack of PZT rings 10 also has a length corresponding to half the (shorter) wavelength of the torsional-mode vibrations therein, and the horn 54 is also tuned to be half a wavelength long.
  • the sets of helical grooves 55 in the proximal 51 and distal 53 converters should be correctly phased as shown, to maximise the overall system gain and to avoid the generation of unwanted longitudinal-mode components.
  • the present invention represents a further example, in addition to that disclosed in the present applicant's co-pending PCT Application No. PCT/GB2009/001281, of how it is possible, given a creative choice of additional mechanical elements, to induce simple, essentially conventional axially-polarised PZT rings and stacks to vibrate in a non- axial mode and to produce efficiently a high-amplitude vibrational output in that non-axial mode.
  • a flexural mode can be induced from an ostensibly axially- driven stack, while in the present application, it is a torsional mode that can be generated in place of the anticipated longitudinal/extensional mode. Normally, forcing such a stack to vibrate in another mode would be very inefficient, but it is now possible to deliver efficiently a high displacement output from a simple and economical stack of thickness-polarised PZT elements.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Dentistry (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)

Abstract

L’invention concerne un appareil (5, 50) conçu pour générer des vibrations ultrasonores en mode torsionnel, comprenant un empilement de bagues (10) en céramique piézo-électriques polarisées axialement qui comportent un convertisseur torsionnel (1, 51, 53) monté de manière coaxiale sur une face de l’empilement ou sur deux faces opposées de ce dernier. Chaque convertisseur torsionnel (1, 51, 53) présente une inhomogénéité transversale comprenant une pluralité de rainures hélicoïdales (2, 55) s’étendant sensiblement d’une extrémité à l’autre du convertisseur. Les rainures (2, 55) présentent chacune une longueur, mesurée axialement le long du convertisseur (1, 51, 53), d’approximativement une demi longueur d’onde de vibration ultrasonore. Lorsque l’empilement est mis sous tension, l’empilement et le (1) ou les convertisseurs (51, 53) résonnent conjointement selon une vibration uniquement en mode torsionnel. L’appareil (5, 50) est compact et axisymétrique, et facile à incorporer dans une simple pièce à main d’outil. Les vibrations ultrasonores peuvent être transmises le long d'un guide d’onde (3) allongé classique d'un outil à une pointe distale fonctionnelle (35). Une oscillation torsionelle de très grande amplitude peut ainsi être induite à la pointe fonctionnelle (35) de l’outil. Dans un autre mode de réalisation, un autre élément de convertisseur (32) peut être placé sur l’extrémité distale du guide d’onde (3) afin de convertir partiellement les vibrations en mode torsionnel en vibrations en mode longitudinal pour des pointes fonctionnelles d’outils nécessitant des oscillations en mode combiné.
EP09799125.1A 2008-10-27 2009-10-27 Générateur ultrasonore à mode torsionnel Active EP2362752B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB0819712.1A GB0819712D0 (en) 2008-10-27 2008-10-27 Torsional generator
PCT/GB2009/002562 WO2010049684A1 (fr) 2008-10-27 2009-10-27 Générateur ultrasonore à mode torsionnel

Publications (2)

Publication Number Publication Date
EP2362752A1 true EP2362752A1 (fr) 2011-09-07
EP2362752B1 EP2362752B1 (fr) 2016-01-06

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP09799125.1A Active EP2362752B1 (fr) 2008-10-27 2009-10-27 Générateur ultrasonore à mode torsionnel

Country Status (5)

Country Link
US (1) US8836200B2 (fr)
EP (1) EP2362752B1 (fr)
ES (1) ES2567269T3 (fr)
GB (1) GB0819712D0 (fr)
WO (1) WO2010049684A1 (fr)

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Also Published As

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WO2010049684A1 (fr) 2010-05-06
US20110278988A1 (en) 2011-11-17
GB0819712D0 (en) 2008-12-03
ES2567269T3 (es) 2016-04-21
EP2362752B1 (fr) 2016-01-06
US8836200B2 (en) 2014-09-16

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